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Sliding mode control (SMC) design technique is a well-known control design method to cope with disturbance and uncertainty. This paper considers a new sliding model design technique for a class of second-order systems which are acted by friction force. Comparing to the global sliding model design technique, it designs the sliding mode for a specific sliding region. Outside the sliding region, the...
Aimed at the trajectory tracking control problem and dynamic collision avoidance problem of the nonholonomic car-like mobile robots under the unknown circumstance, a dynamic collision avoidance method based on nonlinear trajectory tracking control is proposed. Firstly, we develop mathematical model of the car-like mobile robot and design a trajectory tracking controller based on backstepping method...
The speed of pedestrian is an important factor in behavior analysis of pedestrian. Speed calculation of pedestrian can be equivalent to the analysis of the motion trails of object. It can be analyzed in two parts. The first part is the coordinate transformation between the world coordinate system and the image coordinate system which is accomplished by “Distance-to-Pixel” mapping table. The second...
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